CN219649028U - Welding robot tool end - Google Patents
Welding robot tool end Download PDFInfo
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- CN219649028U CN219649028U CN202320156277.8U CN202320156277U CN219649028U CN 219649028 U CN219649028 U CN 219649028U CN 202320156277 U CN202320156277 U CN 202320156277U CN 219649028 U CN219649028 U CN 219649028U
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- gripper
- welding
- tool end
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- 238000003466 welding Methods 0.000 title claims abstract description 69
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000006872 improvement Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 4
- 239000013598 vector Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 235000011888 snacks Nutrition 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
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Abstract
The utility model discloses a welding robot tool end, which comprises a robot welding gun and a tool end connecting plate connected to the robot welding gun, and is characterized in that: one side of the tool end connecting plate is connected with a gripper clamp, and the tool end connecting plate is provided with a robot connecting plate connected to a robot. Compared with the prior art, the utility model has the following advantages: the tool end of the welding robot has the advantages of simple structure, good practicability, cost saving, production beat improvement, strong practicability and good application prospect.
Description
Technical Field
The utility model belongs to the technical field of automobile welding, and particularly relates to a tool end of a welding robot.
Background
With the development of automobile manufacturing processes and technologies, robotic automation has been commonly used in welding operations. The robot bears various processes such as carrying, welding, gluing and the like, and the conventional method is that the same robot switches different robot tool ends through a gun changing disc so as to realize different processes, the time for switching the tool ends at one time is about 20 seconds, and a gun changing disc, a tool end parking frame and the like are additionally arranged, so that the cost is high, the occupied area is large, and the efficiency is low.
Publication number CN103358308B, publication date 2013.10.23, patent name robot gun orientation normalization, the present utility model relates to a method for controlling a welding robot having a servo gun with a movable electrode tip and a fixed electrode tip, the method comprising the steps of: the surface of the component is separately brought into contact with the movable electrode head to measure the base test point and at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from at least two additional test points. The normal vector is calculated from the two non-collinear vectors. An angle between the initial servo gun orientation and the normal vector is determined. For example, if the angle is within a user specified tolerance, the orientation of the servo welding gun may be corrected.
Disclosure of Invention
The utility model aims to solve the problems in the prior art and provides the tool end of the welding robot, which has the advantages of simple structure, good practicability, cost saving and capability of improving the production beat.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the provided tool end of the welding robot comprises a robot welding gun and a tool end connecting plate connected to the robot welding gun, and is characterized in that: one side of the tool end connecting plate is connected with a gripper clamp, and the tool end connecting plate is provided with a robot connecting plate connected to a robot.
In order to make the above technical solution more detailed and concrete, the present utility model further provides the following preferred technical solutions, so as to obtain a satisfactory practical effect:
the gripper clamp comprises a connecting plate, and a positioning unit and a clamping unit which are connected to the connecting plate.
The positioning unit comprises a positioning pin which is matched with the positioning hole on the part for positioning.
Positioning blocks are arranged on two sides of the positioning pin, and the positioning blocks are opposite to edges on two sides of the part.
The positioning block is a magnetic block.
The clamping unit comprises a clamping cylinder and a clamping block connected below the clamping cylinder.
One side of the gripper fixture is provided with a gripper mounting plate, one side, opposite to the robot welding gun, of the tool end connecting plate is provided with a gripper connecting plate, and the gripper mounting plate is correspondingly mounted on the gripper connecting plate.
The robot connecting plate is arranged above the tool end connecting plate and is positioned between the robot welding gun and the gripper clamp.
The robot welding gun is driven by a servo motor.
Compared with the prior art, the utility model has the following advantages: the tool end of the welding robot has the advantages of simple structure, good practicability, cost saving, production beat improvement, strong practicability and good application prospect.
Drawings
The contents expressed in the drawings of the present specification and the marks in the drawings are briefly described as follows:
FIG. 1 is a schematic view of the tool end of the welding robot of the present utility model;
FIG. 2 is a schematic view of the tool end structure of the welding robot of the present utility model;
FIG. 3 is a schematic view of the tool end structure of the welding robot of the present utility model;
FIG. 4 is a schematic view of the structure of a gripper at the tool end of the welding robot of the present utility model;
FIG. 5 is a schematic view of a robotic welder tool end gripper picking up a part in accordance with the present utility model;
FIG. 6 is a detailed schematic view of the lower part of FIG. 5A;
FIG. 7 is a schematic diagram of the tool end welding operation of the welding robot of the present utility model.
Marked in the figure as: 1. a robot welding gun; 2. a robot connecting plate; 3. a gripper clamp; 31. a connecting plate; 32. a positioning block; 33. a positioning pin; 34. a clamping block; 35. a clamping cylinder; 4. a part; 5. a gripper connecting plate; 6. and a gripper mounting plate.
Detailed Description
The following description of the embodiments of the present utility model refers to the accompanying drawings, which illustrate in further detail.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
The tool end of the welding robot disclosed by the utility model comprises a robot welding gun 1 and a tool end connecting plate connected to the robot welding gun 1, wherein one side of the tool end connecting plate is connected with a gripper clamp 3, and the tool end connecting plate is provided with a robot connecting plate 2 connected to a robot, as shown in figures 1, 2 and 3. According to the utility model, the robot welding gun 1 and the gripper clamp 3 are integrated together, when in use, the tool end is not required to be switched, detached, installed and replaced, and the processes of picking, placing and welding can be met by only rotating the tool end of the robot, so that the occupation of the tool placing space is saved, and the production efficiency is improved.
In the present utility model, the grip clamp 3 includes a connection plate 31, and a positioning unit and a clamping unit connected to the connection plate 31. The positioning unit comprises a positioning pin 33 which is matched with the positioning hole on the part 4 to position the part, so that stable grabbing and accurate positioning are realized. Positioning blocks 32 are arranged on two sides of the positioning pin 33, and the positioning blocks 32 are opposite to edges on two sides of the part 4. The positioning block 32 is a magnetic block, prevents the parts from falling off in the moving process, and stably conveys the parts.
In the present utility model, the clamping unit includes a clamping cylinder 35 and a clamping block 34 connected below the clamping cylinder 35. The clamping cylinder 35 drives the clamping block to rotate to clamp the part, so that clamping and positioning are realized.
According to the utility model, one side of the gripper fixture 3 is provided with the gripper mounting plate 6, one side of the tool end connecting plate opposite to the robot welding gun 1 is provided with the gripper connecting plate 5, and the gripper mounting plate 6 is correspondingly mounted on the gripper connecting plate 5, so that the disassembly and the installation are convenient.
In the utility model, the robot connecting plate 2 is arranged above the tool end connecting plate and positioned between the robot welding gun 1 and the gripper clamp 3, so that the robot can conveniently control the switching disc to rotate and switch the robot welding gun 1 and the gripper clamp 3.
In the utility model, the robot welding gun is driven by a servo motor, so that the control and the use are convenient.
The utility model provides a robot tool end which can simultaneously meet the requirements of part conveying and welding. As shown in fig. 1, 2 and 3, a robot welding gun 1 is connected with a tool end connecting plate, a robot is connected with a robot tool end through a robot connecting plate 2 on the tool end connecting plate, a gripper clamp 3 is connected with a gripper connecting plate 5 on the tool end connecting plate through a gripper mounting plate 6, the gripper clamp 3 and the robot welding gun 1 are integrated on one robot tool end, a robot can pass through the tool end, the functions of part loading and welding are realized at the same time, the robot does not need to switch other robot tool ends any more in the process, and the robot can only need to rotate a switching disc. The utility model discloses a robot tool end, which mainly comprises a robot welding gun 1, a tool end connecting plate and a gripper clamp 3.
The robot welding gun 1 is driven by a servo motor, so that welding pressure and a welding gun opening and closing stroke can be accurately output, and stable welding quality is ensured. The tool end connecting plate is made of Q235 and 20mm in thickness, and is provided with two connecting ends which are respectively connected to the robot through the robot connecting plate 2, and the gripper connecting plate 5 is connected with the gripper clamp 3. The robot connecting plate 2 is provided with 12 phi 11 holes, and 2 positioning pins are connected with the six-axis flange of the robot in high precision. In addition, 18 phi 11 through holes and 4 positioning pins are matched to realize connection with the tool end connecting plate. The gripper connecting plate 5 is connected to one end of the tool end connecting plate opposite to the robot welding gun 1, and the gripper connecting plate 5 is provided with a mounting hole which is correspondingly mounted with the gripper mounting plate 6.
In the utility model, as shown in fig. 4, 5 and 6, the gripper fixture 3 is composed of a positioning unit, a clamping unit and a connecting plate 31 for connecting, wherein the positioning unit comprises a positioning pin 33 and positioning blocks 32 arranged at two sides of the positioning pin 33 and acting on the edge of a part, the clamping unit is composed of a clamping cylinder 35 and a clamping block 34, wherein the positioning blocks 32 can be preferably magnetic positioning blocks, the degree of freedom of the part is controlled to achieve the aim of positioning the part, the thickness of the positioning blocks and the clamping blocks is 20mm, and 45 steel tempering and surface blackening treatments are adopted for the positioning blocks and the required rigidity and corrosion resistance of the gripper fixture can be achieved. The clamping cylinder of the gripper clamp is an European standard dead point cylinder, and is mechanically locked after being clamped in place, so that the part is prevented from falling off after the air source is interrupted. The gripper fixture 3 is connected to one side of the gripper mounting plate 6, and the other side is connected to the tool end connecting plate and is connected with the robot welding gun 1 into a whole, and the gripper connecting plate 5 and the gripper mounting plate 6 integrate the robot welding gun 1 and the gripper fixture 3 for the transition plate. The gripper connecting plate 5 and the gripper mounting plate 6 are 12mm thick, and are made of Q235, so that the connection rigidity is ensured.
The robot tool end is simple in structure and convenient to install; the robot welding gun 1 and the gripper clamp 3 are integrated together, when in use, the tool end is not required to be switched, detached, installed and replaced, and the process of picking, placing and welding can be met by only rotating the tool end of the robot; low investment cost, small occupied area and high production efficiency.
During installation, the robot welding gun 1 is connected to the tool end connecting plate, the robot connecting plate 2 is installed and connected to the tool end connecting plate, the gripper clamp 4 is connected with the gripper connecting plate 5 on the tool end connecting plate through the gripper mounting plate 6, the gripper clamp 4 and the robot welding gun 1 are connected into a whole, the robot is connected to the six-axis flange surface of the robot through the robot connecting plate 2, the connection of the robot and the tool end of the robot is completed, the holes and the locating pins for installation are formed by high-precision machining, the bolts for connection are high-strength bolts, and the connection precision and strength are guaranteed.
During operation, the robot carries the robot tool end to snatch part 4 from the part skip, and behind locating pin 33 and locating piece 32 in place, clamp cylinder 35 starts to drive clamp piece 34 rotation and compresses tightly at part lower extreme surface, and in addition magnet absorption location guarantees that the part can not drop, accomplishes the part and snacks the process.
After the part 4 is grabbed, the robot carrying tool end places the part 4 on the welding fixture, the fixture is pressed, the robot tool end is separated from the part 4, and the switching disc drives the robot tool end to rotate to switch the gesture, so that the robot welding gun 1 is aligned with the part to start welding. After the welding is finished, the clamp is opened, the robot carrying tool end goes to the skip car again to grab the part 4, and one working cycle is finished.
Compared with the prior art, the utility model has the following advantages: the tool end of the welding robot has the advantages of simple structure, good practicability, cost saving, production beat improvement, strong practicability and good application prospect.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The utility model has been described above by way of example with reference to the accompanying drawings, but the utility model is not limited to the above, as long as various insubstantial modifications by the method concepts and technical solutions of the utility model or direct application to other applications are within the scope of the utility model.
Claims (9)
1. The utility model provides a welding machine robot instrument end, includes robot welder and connects instrument end connecting plate on the robot welder, its characterized in that: one side of the tool end connecting plate is connected with a gripper clamp, and the tool end connecting plate is provided with a robot connecting plate connected to a robot.
2. The welding robot tool tip as recited in claim 1, wherein: the gripper clamp comprises a connecting plate, and a positioning unit and a clamping unit which are connected to the connecting plate.
3. The welding robot tool tip as recited in claim 2, wherein: the positioning unit comprises a positioning pin which is matched with the positioning hole on the part for positioning.
4. A welding robot tool as recited in claim 3, wherein: positioning blocks are arranged on two sides of the positioning pin, and the positioning blocks are opposite to edges on two sides of the part.
5. The welding robot tool tip as recited in claim 4, wherein: the positioning block is a magnetic block.
6. The welding robot tool tip as recited in claim 5, wherein: the clamping unit comprises a clamping cylinder and a clamping block connected below the clamping cylinder.
7. The welding robot tool tip as recited in any one of claims 1 to 6, wherein: one side of the gripper fixture is provided with a gripper mounting plate, one side, opposite to the robot welding gun, of the tool end connecting plate is provided with a gripper connecting plate, and the gripper mounting plate is correspondingly mounted on the gripper connecting plate.
8. The welding robot tool tip as recited in claim 7, wherein: the robot connecting plate is arranged above the tool end connecting plate and is positioned between the robot welding gun and the gripper clamp.
9. The welding robot tool tip as recited in claim 1, wherein: the robot welding gun is driven by a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320156277.8U CN219649028U (en) | 2023-02-08 | 2023-02-08 | Welding robot tool end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320156277.8U CN219649028U (en) | 2023-02-08 | 2023-02-08 | Welding robot tool end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219649028U true CN219649028U (en) | 2023-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320156277.8U Active CN219649028U (en) | 2023-02-08 | 2023-02-08 | Welding robot tool end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219649028U (en) |
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2023
- 2023-02-08 CN CN202320156277.8U patent/CN219649028U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240429 Address after: 241000 No. 8, Changchun Road, Wuhu economic and Technological Development Zone, Anhui, China Patentee after: CHERY AUTOMOBILE Co.,Ltd. Country or region after: China Address before: 241000 Building 8, science and Technology Industrial Park, 717 Zhongshan South Road, Yijiang District, Wuhu City, Anhui Province Patentee before: Chery Commercial Vehicles (Anhui) Co., Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |